Research on Orthogonal Iteration Algorithm of Visual Pose Estimation for UAV Landing

Aimed at the problem that the performance of orthogonal iterative (OI) algorithm is affected by the initial value when applying it for UAV pose estimation, the solutions of different non-iterative algorithms are selected as the initial values. Algorithm performances are evaluated from three aspects...

Full description

Saved in:
Bibliographic Details
Published in2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) pp. 1 - 6
Main Authors Zhang, Wenjing, Xu, Guili, Cheng, Yuehua, Liu, Ting
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2018
Subjects
Cameras
Extraterrestrial measurements
Pose estimation
Real-time systems
Stability analysis
Unmanned aerial vehicles
Online AccessGet full text
DOI10.1109/GNCC42960.2018.9019144

Cover

More Information
Summary:Aimed at the problem that the performance of orthogonal iterative (OI) algorithm is affected by the initial value when applying it for UAV pose estimation, the solutions of different non-iterative algorithms are selected as the initial values. Algorithm performances are evaluated from three aspects in algorithm stability, accuracy and real-time performance. Computer and experimental simulation are built to verify that a better performance can be obtained by using a Robust O(n) solution to the Perspective-n-Point problem (RPnP) as the initial value. Furthermore, the main factors affecting accuracy are explored among the number of feature points, the distance between the camera and the cooperation target and the random noise.
DOI:10.1109/GNCC42960.2018.9019144